相关论文: DeepMix: Mobility-aware, Lightweight, and Hybrid 3…

The ability to accurately detect and localize objects is recognized as being the most important for the perception of self-driving cars. From 2D to 3D object detection, the most difficult is to determine the distance from the ego-vehicle to…

Perception for automated driving is largely based on onboard environmental sensors, such as cameras and radar, which are cost-effective but limited by line-of-sight and field-of-view constraints. These inherent limitations may cause onboard…

Depth estimation and 3D reconstruction have been extensively studied as core topics in computer vision. Starting from rigid objects with relatively simple geometric shapes, such as vehicles, the research has expanded to address general…

Current LiDAR-based 3D object detectors for autonomous driving are almost entirely trained on human-annotated data collected in specific geographical domains with specific sensor setups, making it difficult to adapt to a different domain.…

In the past few years, numerous Deep Neural Network (DNN) models and frameworks have been developed to tackle the problem of real-time object detection from RGB images. Ordinary object detection approaches process information from the…

Query-based 3D object detection methods using multi-view images often struggle to efficiently leverage dynamic multi-scale information, e.g., the relationship between the object features and the geometric of the queries are not sufficiently…

This paper tackles the 3D object detection problem, which is of vital importance for applications such as autonomous driving. Our framework uses a Machine Learning (ML) pipeline on a combination of monocular camera and LiDAR data to detect…

State-of-the-art LiDAR-camera 3D object detectors usually focus on feature fusion. However, they neglect the factor of depth while designing the fusion strategy. In this work, we are the first to observe that different modalities play…

Driver drowsiness increases crash risk, leading to substantial road trauma each year. Drowsiness detection methods have received considerable attention, but few studies have investigated the implementation of a detection approach on a…

LiDAR-camera fusion can enhance the performance of 3D object detection by utilizing complementary information between depth-aware LiDAR points and semantically rich images. Existing voxel-based methods face significant challenges when…

Most autonomous vehicles are equipped with LiDAR sensors and stereo cameras. The former is very accurate but generates sparse data, whereas the latter is dense, has rich texture and color information but difficult to extract robust 3D…

Most real-world 3D sensors such as LiDARs perform fixed scans of the entire environment, while being decoupled from the recognition system that processes the sensor data. In this work, we propose a method for 3D object recognition using…

Reconstructing compositional 3D representations of scenes, where each object is represented with its own 3D model, is a highly desirable capability in robotics and augmented reality. However, most existing methods rely heavily on strong…

This project aims to develop a robust video surveillance system, which can segment videos into smaller clips based on the detection of activities. It uses CCTV footage, for example, to record only major events-like the appearance of a…

The 3D object detection capabilities in urban environments have been enormously improved by recent developments in Light Detection and Range (LiDAR) technology. This paper presents a novel framework that transforms the detection and…

3D object detection with surround-view images is an essential task for autonomous driving. In this work, we propose DETR4D, a Transformer-based framework that explores sparse attention and direct feature query for 3D object detection in…

Open-vocabulary 3D object detection has gained significant interest due to its critical applications in autonomous driving and embodied AI. Existing detection methods, whether offline or online, typically rely on dense point cloud…

Real-time 3D object detection is crucial for autonomous cars. Achieving promising performance with high efficiency, voxel-based approaches have received considerable attention. However, previous methods model the input space with features…

Multi-scale detection plays an important role in object detection models. However, researchers usually feel blank on how to reasonably configure detection heads combining multi-scale features at different input resolutions. We find that…

Robust 3D object detection is a core challenge for autonomous mobile systems in field robotics. To tackle this issue, many researchers have demonstrated improvements in 3D object detection performance in datasets. However, real-world urban…